diff options
Diffstat (limited to 'src/org/mckenzierobotics/lib/robot/FeedForward.java')
-rw-r--r-- | src/org/mckenzierobotics/lib/robot/FeedForward.java | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/src/org/mckenzierobotics/lib/robot/FeedForward.java b/src/org/mckenzierobotics/lib/robot/FeedForward.java index a18dccc..c7a06b8 100644 --- a/src/org/mckenzierobotics/lib/robot/FeedForward.java +++ b/src/org/mckenzierobotics/lib/robot/FeedForward.java @@ -5,7 +5,7 @@ * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. - * + * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the @@ -13,7 +13,7 @@ * * You should have received a copy of the GNU General Public License * along with this program. If not, see <http://www.gnu.org/licenses/>. - * + * * @author Luke Shumaker <lukeshu@sbcglobal.net> */ package org.mckenzierobotics.lib.robot; @@ -45,7 +45,7 @@ public abstract class FeedForward implements PIDOutput { pidOutput = output; pid = new PIDController(Kp, Ki, Kd, source, new PIDTrigger(this), period); } - + public FeedForward(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, boolean autodisable) { pidOutput = output; pid = new PIDController(Kp, Ki, Kd, source, new PIDTrigger(this), autodisable); @@ -54,15 +54,15 @@ public abstract class FeedForward implements PIDOutput { pidOutput = output; pid = new PIDController(Kp, Ki, Kd, source, new PIDTrigger(this), period, autodisable); } - + public PIDController getPID() { return pid; } - + public void pidWrite(double output) { pid.setSetpoint(output); } - + public void update(double pidResult) { if (pid.isEnabled()) { double ffResult = calculate(pid.getSetpoint()); @@ -71,6 +71,6 @@ public abstract class FeedForward implements PIDOutput { pidOutput.pidWrite(0); } } - + public abstract double calculate(double setpoint); } |